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<a href="mip__sdk__nav_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment"></span><span class="comment">//</span>
<a name="l00008"></a>00008 <span class="comment"></span><span class="comment">//</span>
<a name="l00009"></a>00009 <span class="comment">// External dependencies:</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">//  </span>
<a name="l00012"></a>00012 <span class="comment">// </span>
<a name="l00014"></a>00014 <span class="comment"></span><span class="comment">//</span>
<a name="l00017"></a>00017 <span class="comment"></span><span class="comment">//</span>
<a name="l00027"></a>00027 <span class="comment"></span><span class="comment">//</span>
<a name="l00029"></a>00029 <span class="comment"></span>
<a name="l00030"></a>00030 
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef _MIP_SDK_NAV_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define _MIP_SDK_NAV_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00034"></a>00034 
<a name="l00036"></a>00036 <span class="comment">//</span>
<a name="l00037"></a>00037 <span class="comment">//Include Files</span>
<a name="l00038"></a>00038 <span class="comment">//</span>
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;<a class="code" href="mip_8h.html">mip.h</a>&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;<a class="code" href="mip__sdk__interface_8h.html">mip_sdk_interface.h</a>&quot;</span>
<a name="l00043"></a>00043 
<a name="l00045"></a>00045 <span class="comment">//</span>
<a name="l00046"></a>00046 <span class="comment">// Defines</span>
<a name="l00047"></a>00047 <span class="comment">//</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 
<a name="l00053"></a>00053 <span class="comment">//</span>
<a name="l00054"></a>00054 <span class="comment">// Descriptor Set designators - used in the Desc Set field of the MIP header</span>
<a name="l00055"></a>00055 <span class="comment">//</span>
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="preprocessor">#define MIP_NAV_COMMAND_SET                                                             0x0D</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_SET                                                                0x82</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00061"></a>00061 
<a name="l00063"></a>00063 <span class="comment">// NAV COMMAND DESCRIPTORS (command desc are &lt; 0x80)</span>
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="preprocessor">#define MIP_NAV_CMD_RESET_FILTER                   0x01</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_SET_INITIAL_ATTITUDE           0x02</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_SET_INITIAL_HEADING            0x03</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_SET_INITIAL_HEADING_FROM_AHRS  0x04</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span>
<a name="l00071"></a>00071 <span class="preprocessor">#define MIP_NAV_CMD_VEHICLE_DYNAMICS_MODE          0x10</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_SENSOR2VEHICLE_TRANSFORMATION  0x11</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_SENSOR2VEHICLE_OFFSET          0x12</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_ANTENNA_OFFSET                 0x13</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_BIAS_ESTIMATION_CONTROL        0x14</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span>
<a name="l00077"></a>00077 <span class="preprocessor">#define MIP_NAV_CMD_GPS_SOURCE_CONTROL             0x15</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_EXTERNAL_GPS_UPDATE            0x16</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_EXTERNAL_HEADING_UPDATE        0x17</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_HEADING_UPDATE_CONTROL         0x18</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_AUTOINIT_CONTROL               0x19</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_ACCEL_NOISE                    0x1A</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_GYRO_NOISE                     0x1B</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_ACCEL_BIAS_MODEL               0x1C</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_CMD_GYRO_BIAS_MODEL                0x1D</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span>
<a name="l00087"></a>00087 
<a name="l00089"></a>00089 <span class="comment">// NAV REPLY DESCRIPTORS (reply desc are &gt;= 0x80)</span>
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="preprocessor">#define MIP_NAV_REPLY_VEHICLE_DYNAMICS_MODE          0x80</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_SENSOR2VEHICLE_TRANSFORMATION  0x81</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_SENSOR2VEHICLE_OFFSET          0x82</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_ANTENNA_OFFSET                 0x83</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_BIAS_ESTIMATION_CONTROL        0x84</span>
<a name="l00097"></a>00097 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_GPS_SOURCE_CONTROL             0x86</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_HEADING_UPDATE_CONTROL         0x87</span>
<a name="l00099"></a>00099 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_AUTOINIT_CONTROL               0x88</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_ACCEL_NOISE                    0x89</span>
<a name="l00101"></a>00101 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_GYRO_NOISE                     0x8A</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_ACCEL_BIAS_MODEL               0x8B</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_REPLY_GYRO_BIAS_MODEL                0x8C</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span>
<a name="l00105"></a>00105 
<a name="l00107"></a>00107 <span class="comment">//</span>
<a name="l00108"></a>00108 <span class="comment">// NAV DATA DESCRIPTORS</span>
<a name="l00109"></a>00109 <span class="comment">//</span>
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="preprocessor">#define MIP_NAV_DATA_LLH_POS                     0x01    </span>
<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_NED_VEL                         0x02       </span>
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ATT_QUATERNION                  0x03        </span>
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ATT_MATRIX                              0x04        </span>
<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ATT_EULER_ANGLES                    0x05    </span>
<a name="l00117"></a>00117 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_GYRO_BIAS                               0x06        </span>
<a name="l00118"></a>00118 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ACCEL_BIAS                              0x07        </span>
<a name="l00119"></a>00119 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_POS_UNCERTAINTY                 0x08        </span>
<a name="l00120"></a>00120 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_VEL_UNCERTAINTY             0x09   </span>
<a name="l00121"></a>00121 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ATT_UNCERTAINTY_EULER       0x0A    </span>
<a name="l00122"></a>00122 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_GYRO_BIAS_UNCERTAINTY       0x0B   </span>
<a name="l00123"></a>00123 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ACCEL_BIAS_UNCERTAINTY      0x0C     </span>
<a name="l00124"></a>00124 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ACCELERATION                0x0D   </span>
<a name="l00125"></a>00125 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ANGULAR_RATE                0x0E     </span>
<a name="l00126"></a>00126 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_WGS84_GRAVITY               0x0F     </span>
<a name="l00127"></a>00127 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_FILTER_STATUS               0x10   </span>
<a name="l00128"></a>00128 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_FILTER_TIMESTAMP            0x11    </span>
<a name="l00129"></a>00129 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_ATT_UNCERTAINTY_QUATERNION  0x12    </span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_GRAVITY_VECTOR              0x13   </span>
<a name="l00131"></a>00131 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_HEADING_UPDATE_STATE        0x14</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DATA_MAGNETIC_MODEL              0x15     </span>
<a name="l00133"></a>00133 <span class="preprocessor"></span>
<a name="l00134"></a>00134 
<a name="l00135"></a>00135 <span class="comment">//NAV Data Descriptor Validation Macro</span>
<a name="l00136"></a>00136 <span class="preprocessor">#define IS_NAV_DATA_DESCRIPTOR(DESC) (((DESC) == MIP_NAV_DATA_LLH_POS)                     || \</span>
<a name="l00137"></a>00137 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_NED_VEL)                     || \</span>
<a name="l00138"></a>00138 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ATT_QUATERNION)              || \</span>
<a name="l00139"></a>00139 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ATT_MATRIX)                  || \</span>
<a name="l00140"></a>00140 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ATT_EULER_ANGLES)            || \</span>
<a name="l00141"></a>00141 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_GYRO_BIAS)                   || \</span>
<a name="l00142"></a>00142 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ACCEL_BIAS)                  || \</span>
<a name="l00143"></a>00143 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_POS_UNCERTAINTY)             || \</span>
<a name="l00144"></a>00144 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_VEL_UNCERTAINTY)             || \</span>
<a name="l00145"></a>00145 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ATT_UNCERTAINTY_EULER)       || \</span>
<a name="l00146"></a>00146 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_GYRO_BIAS_UNCERTAINTY)       || \</span>
<a name="l00147"></a>00147 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ACCEL_BIAS_UNCERTAINTY)      || \</span>
<a name="l00148"></a>00148 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ACCELERATION)                || \</span>
<a name="l00149"></a>00149 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ANGULAR_RATE)                || \</span>
<a name="l00150"></a>00150 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_WGS84_GRAVITY)               || \</span>
<a name="l00151"></a>00151 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_FILTER_STATUS)               || \</span>
<a name="l00152"></a>00152 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_FILTER_TIMESTAMP)            || \</span>
<a name="l00153"></a>00153 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_ATT_UNCERTAINTY_QUATERNION)  || \</span>
<a name="l00154"></a>00154 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_GRAVITY_VECTOR)              || \</span>
<a name="l00155"></a>00155 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_HEADING_UPDATE_STATE)        || \</span>
<a name="l00156"></a>00156 <span class="preprocessor">                                      ((DESC) == MIP_NAV_DATA_MAGNETIC_MODEL))</span>
<a name="l00157"></a>00157 <span class="preprocessor"></span>
<a name="l00158"></a>00158 
<a name="l00160"></a>00160 <span class="comment">// NAV PARAMETERS</span>
<a name="l00162"></a>00162 <span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment">//Bias Estimation Control</span>
<a name="l00164"></a>00164 <span class="preprocessor">#define MIP_NAV_BIAS_ESTIMATION_OFF 0x00</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_BIAS_ESTIMATION_ON  0x01</span>
<a name="l00166"></a>00166 <span class="preprocessor"></span>
<a name="l00167"></a>00167 
<a name="l00168"></a>00168 <span class="comment">//Dynamics Modes</span>
<a name="l00169"></a>00169 <span class="preprocessor">#define MIP_NAV_DYNAMICS_MODE_PORTABLE    0x01</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DYNAMICS_MODE_AUTOMOTIVE  0x02</span>
<a name="l00171"></a>00171 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_DYNAMICS_MODE_AIRBORNE    0x03</span>
<a name="l00172"></a>00172 <span class="preprocessor"></span>
<a name="l00173"></a>00173 
<a name="l00174"></a>00174 <span class="comment">//Heading update sources</span>
<a name="l00175"></a>00175 <span class="preprocessor">#define MIP_NAV_HEADING_SOURCE_NONE          0x00</span>
<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_HEADING_SOURCE_MAGNETOMETER  0x01</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_HEADING_SOURCE_GPS_VELOCITY  0x02</span>
<a name="l00178"></a>00178 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_HEADING_SOURCE_EXTERNAL      0x03</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span>
<a name="l00180"></a>00180 <span class="preprocessor">#define IS_NAV_HEADING_SOURCE(SOURCE) (((SOURCE) == MIP_NAV_HEADING_SOURCE_NONE)         || \</span>
<a name="l00181"></a>00181 <span class="preprocessor">                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_MAGNETOMETER) || \</span>
<a name="l00182"></a>00182 <span class="preprocessor">                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_GPS_VELOCITY) || \</span>
<a name="l00183"></a>00183 <span class="preprocessor">                                       ((SOURCE) == MIP_NAV_HEADING_SOURCE_EXTERNAL))</span>
<a name="l00184"></a>00184 <span class="preprocessor"></span>
<a name="l00185"></a>00185 <span class="comment">//Heading update types</span>
<a name="l00186"></a>00186 <span class="preprocessor">#define MIP_NAV_HEADING_UPDATE_TYPE_TRUE_NORTH      0x01</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_HEADING_UPDATE_TYPE_MAGNETIC_NORTH  0x02</span>
<a name="l00188"></a>00188 <span class="preprocessor"></span>
<a name="l00189"></a>00189 <span class="preprocessor">#define IS_NAV_HEADING_UPDATE_TYPE(TYPE) (((TYPE) == MIP_NAV_HEADING_UPDATE_TYPE_TRUE_NORTH) || \</span>
<a name="l00190"></a>00190 <span class="preprocessor">                                          ((TYPE) == MIP_NAV_HEADING_UPDATE_TYPE_MAGNETIC_NORTH))</span>
<a name="l00191"></a>00191 <span class="preprocessor"></span>                                          
<a name="l00192"></a>00192 
<a name="l00194"></a>00194 <span class="comment">//</span>
<a name="l00195"></a>00195 <span class="comment">// Flag Definitions</span>
<a name="l00196"></a>00196 <span class="comment">//</span>
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment">//EKF Modes</span>
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="preprocessor">#define MIP_NAV_EKF_STATE_STARTUP              0x00</span>
<a name="l00204"></a>00204 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATE_INIT                 0x01</span>
<a name="l00205"></a>00205 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATE_RUN_SOLUTION_VALID   0x02</span>
<a name="l00206"></a>00206 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATE_RUN_SOLUTION_ERROR   0x03</span>
<a name="l00207"></a>00207 <span class="preprocessor"></span>
<a name="l00209"></a>00209 <span class="comment">//Dynamics Modes</span>
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="preprocessor">#define MIP_NAV_EKF_DYNAMICS_MODE_PORTABLE    0x01</span>
<a name="l00213"></a>00213 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_DYNAMICS_MODE_AUTOMOTIVE  0x02</span>
<a name="l00214"></a>00214 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_DYNAMICS_MODE_AIRBORNE    0x03</span>
<a name="l00215"></a>00215 <span class="preprocessor"></span>
<a name="l00216"></a>00216 <span class="preprocessor">#define IS_MIP_NAV_EKF_DYNAMICS_MODE(MODE) (((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_PORTABLE)   || \</span>
<a name="l00217"></a>00217 <span class="preprocessor">                                            ((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_AUTOMOTIVE) || \</span>
<a name="l00218"></a>00218 <span class="preprocessor">                                            ((MODE) == MIP_NAV_EKF_DYNAMICS_MODE_AIRBORNE))</span>
<a name="l00219"></a>00219 <span class="preprocessor"></span>
<a name="l00221"></a>00221 <span class="comment">//EKF Status Flags</span>
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a>00224 <span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_INIT_NO_ATTITUDE            0x1000</span>
<a name="l00225"></a>00225 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_INIT_NO_POSITION_VELOCITY   0x2000</span>
<a name="l00226"></a>00226 <span class="preprocessor"></span>
<a name="l00227"></a>00227 <span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_IMU_UNAVAILABLE             0x0001</span>
<a name="l00228"></a>00228 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_GPS_UNAVAILABLE             0x0002</span>
<a name="l00229"></a>00229 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_MATRIX_SINGULARITY          0x0008</span>
<a name="l00230"></a>00230 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_POSITION_COVARIANCE_WARNING 0x0010</span>
<a name="l00231"></a>00231 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_VELOCITY_COVARIANCE_WARNING 0x0020</span>
<a name="l00232"></a>00232 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_ATTITUDE_COVARIANCE_WARNING 0x0040</span>
<a name="l00233"></a>00233 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_STATUS_FLAG_NAN_IN_SOLUTION_WARNING     0x0080</span>
<a name="l00234"></a>00234 <span class="preprocessor"></span>
<a name="l00235"></a>00235 
<a name="l00237"></a>00237 <span class="comment">//Bias Estimation Control</span>
<a name="l00239"></a>00239 <span class="comment"></span>
<a name="l00240"></a>00240 <span class="preprocessor">#define MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_OFF 0x00</span>
<a name="l00241"></a>00241 <span class="preprocessor"></span><span class="preprocessor">#define MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_ON  0x01</span>
<a name="l00242"></a>00242 <span class="preprocessor"></span>
<a name="l00243"></a>00243 <span class="preprocessor">#define IS_MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL(CONTROL) (((CONTROL)  == MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_OFF) || \</span>
<a name="l00244"></a>00244 <span class="preprocessor">                                                         ((CONTROL)  == MIP_NAV_EKF_BIAS_ESTIMATION_CONTROL_ON))</span>
<a name="l00245"></a>00245 <span class="preprocessor"></span>
<a name="l00246"></a>00246 
<a name="l00248"></a>00248 <span class="comment">// Heading Update State</span>
<a name="l00250"></a>00250 <span class="comment"></span>
<a name="l00251"></a>00251 <span class="preprocessor">#define NAV_HEADING_UPDATE_STATE_SOURCE_VALID         0x0001</span>
<a name="l00252"></a>00252 <span class="preprocessor"></span><span class="preprocessor">#define NAV_HEADING_UPDATE_STATE_HEADING_VALID        0x0002</span>
<a name="l00253"></a>00253 <span class="preprocessor"></span><span class="preprocessor">#define NAV_HEADING_UPDATE_STATE_HEADING_1SIGMA_VALID 0x0004</span>
<a name="l00254"></a>00254 <span class="preprocessor"></span>
<a name="l00255"></a>00255 <span class="preprocessor">#define NAV_HEADING_UPDATE_STATE_PACKET_VALID (NAV_HEADING_UPDATE_STATE_SOURCE_VALID | NAV_HEADING_UPDATE_STATE_HEADING_VALID | NAV_HEADING_UPDATE_STATE_HEADING_1SIGMA_VALID)</span>
<a name="l00256"></a>00256 <span class="preprocessor"></span>
<a name="l00257"></a>00257 
<a name="l00258"></a>00258 
<a name="l00259"></a>00259 
<a name="l00260"></a>00260 
<a name="l00261"></a>00261 
<a name="l00263"></a>00263 <span class="comment">//</span>
<a name="l00264"></a>00264 <span class="comment">// Structures</span>
<a name="l00265"></a>00265 <span class="comment">//</span>
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="preprocessor">#pragma pack(1)</span>
<a name="l00269"></a>00269 <span class="preprocessor"></span>
<a name="l00271"></a>00271 <span class="comment">//</span>
<a name="l00272"></a>00272 <span class="comment">// Commands</span>
<a name="l00273"></a>00273 <span class="comment">//</span>
<a name="l00275"></a>00275 <span class="comment"></span>
<a name="l00277"></a>00277 <span class="comment">// External GPS Update Information: GPS Time, Position, Velocity</span>
<a name="l00279"></a>00279 <span class="comment"></span>
<a name="l00280"></a><a class="code" href="struct__mip__nav__external__gps__update__command.html">00280</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__external__gps__update__command.html">_mip_nav_external_gps_update_command</a>
<a name="l00281"></a>00281 {
<a name="l00282"></a>00282  <span class="keywordtype">double</span> tow;                <span class="comment">//(sec)</span>
<a name="l00283"></a>00283  u16    week_number; 
<a name="l00284"></a>00284  
<a name="l00285"></a>00285  <span class="keywordtype">double</span> pos[3];             <span class="comment">//Lat, Lon, Height (LLH) Position (deg, deg, m)</span>
<a name="l00286"></a>00286  <span class="keywordtype">float</span>  vel[3];             <span class="comment">//NED Velocity, (m/s)</span>
<a name="l00287"></a>00287 
<a name="l00288"></a>00288  <span class="keywordtype">float</span>  pos_1sigma[3];      <span class="comment">//NED position 1-sigma (m)</span>
<a name="l00289"></a>00289  <span class="keywordtype">float</span>  vel_1sigma[3];      <span class="comment">//NED velocity 1-sigma (m/s)</span>
<a name="l00290"></a>00290  
<a name="l00291"></a>00291 }<a class="code" href="struct__mip__nav__external__gps__update__command.html">mip_nav_external_gps_update_command</a>;
<a name="l00292"></a>00292 
<a name="l00293"></a>00293 
<a name="l00295"></a>00295 <span class="comment">// External Heading Update Information: Heading angle</span>
<a name="l00297"></a>00297 <span class="comment"></span>
<a name="l00298"></a><a class="code" href="struct__mip__nav__external__heading__update__command.html">00298</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__external__heading__update__command.html">_mip_nav_external_heading_update_command</a>
<a name="l00299"></a>00299 {
<a name="l00300"></a>00300  <span class="keywordtype">float</span> heading_angle;        <span class="comment">//(deg, +-180)</span>
<a name="l00301"></a>00301  <span class="keywordtype">float</span> heading_angle_1sigma; <span class="comment">//(deg)</span>
<a name="l00302"></a>00302  u8    type;                 <span class="comment">// 1 - true north, 2 - magnetic north</span>
<a name="l00303"></a>00303 }<a class="code" href="struct__mip__nav__external__heading__update__command.html">mip_nav_external_heading_update_command</a>;
<a name="l00304"></a>00304 
<a name="l00305"></a>00305 
<a name="l00306"></a>00306 
<a name="l00308"></a>00308 <span class="comment">//</span>
<a name="l00309"></a>00309 <span class="comment">// Data</span>
<a name="l00310"></a>00310 <span class="comment">//</span>
<a name="l00312"></a>00312 <span class="comment"></span>
<a name="l00313"></a>00313 
<a name="l00314"></a>00314 <span class="comment">//LLH Position</span>
<a name="l00315"></a><a class="code" href="struct__mip__nav__llh__pos.html">00315</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__llh__pos.html">_mip_nav_llh_pos</a>
<a name="l00316"></a>00316 {
<a name="l00317"></a>00317  <span class="keywordtype">double</span> latitude, longitude; <span class="comment">//Degrees</span>
<a name="l00318"></a>00318  <span class="keywordtype">double</span> ellipsoid_height;    <span class="comment">//meters</span>
<a name="l00319"></a>00319  u16    valid_flags;   
<a name="l00320"></a>00320 }<a class="code" href="struct__mip__nav__llh__pos.html">mip_nav_llh_pos</a>;
<a name="l00321"></a>00321 
<a name="l00322"></a>00322 
<a name="l00323"></a>00323 
<a name="l00324"></a>00324 <span class="comment">//NED Velocity</span>
<a name="l00325"></a><a class="code" href="struct__mip__nav__ned__velocity.html">00325</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__ned__velocity.html">_mip_nav_ned_velocity</a>
<a name="l00326"></a>00326 {
<a name="l00327"></a>00327  <span class="keywordtype">float</span> north, east, down;   <span class="comment">//meters/sec</span>
<a name="l00328"></a>00328  u16   valid_flags;
<a name="l00329"></a>00329 }<a class="code" href="struct__mip__nav__ned__velocity.html">mip_nav_ned_velocity</a>;
<a name="l00330"></a>00330 
<a name="l00331"></a>00331 
<a name="l00332"></a>00332 <span class="comment">//Attitude (quaternion)</span>
<a name="l00333"></a><a class="code" href="struct__mip__nav__attitude__quaternion.html">00333</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__attitude__quaternion.html">_mip_nav_attitude_quaternion</a>
<a name="l00334"></a>00334 {
<a name="l00335"></a>00335  <span class="keywordtype">float</span> q[4];
<a name="l00336"></a>00336  u16   valid_flags;
<a name="l00337"></a>00337 }<a class="code" href="struct__mip__nav__attitude__quaternion.html">mip_nav_attitude_quaternion</a>;
<a name="l00338"></a>00338 
<a name="l00339"></a>00339 
<a name="l00340"></a>00340 <span class="comment">//Attitude (DCM)</span>
<a name="l00341"></a><a class="code" href="struct__mip__nav__attitude__dcm.html">00341</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__attitude__dcm.html">_mip_nav_attitude_dcm</a>
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343  <span class="keywordtype">float</span> dcm[3][3];         <span class="comment">//Rows, Columns </span>
<a name="l00344"></a>00344  u16   valid_flags;
<a name="l00345"></a>00345 }<a class="code" href="struct__mip__nav__attitude__dcm.html">mip_nav_attitude_dcm</a>;
<a name="l00346"></a>00346 
<a name="l00347"></a>00347 
<a name="l00348"></a>00348 <span class="comment">//Attitude (Euler Angles)</span>
<a name="l00349"></a><a class="code" href="struct__mip__nav__attitude__euler__angles.html">00349</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__attitude__euler__angles.html">_mip_nav_attitude_euler_angles</a>
<a name="l00350"></a>00350 {
<a name="l00351"></a>00351  <span class="keywordtype">float</span> roll, pitch, yaw; <span class="comment">//radians</span>
<a name="l00352"></a>00352  u16   valid_flags;
<a name="l00353"></a>00353 }<a class="code" href="struct__mip__nav__attitude__euler__angles.html">mip_nav_attitude_euler_angles</a>;
<a name="l00354"></a>00354 
<a name="l00355"></a>00355 
<a name="l00356"></a>00356 <span class="comment">//Gyro Bias Estimates</span>
<a name="l00357"></a><a class="code" href="struct__mip__nav__gyro__bias.html">00357</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__gyro__bias.html">_mip_nav_gyro_bias</a>
<a name="l00358"></a>00358 {
<a name="l00359"></a>00359  <span class="keywordtype">float</span> x, y, z;    <span class="comment">//sensor body frame (radians/sec)</span>
<a name="l00360"></a>00360  u16   valid_flags; 
<a name="l00361"></a>00361 }<a class="code" href="struct__mip__nav__gyro__bias.html">mip_nav_gyro_bias</a>;
<a name="l00362"></a>00362 
<a name="l00363"></a>00363 
<a name="l00364"></a>00364 <span class="comment">//Accel Bias Estimates</span>
<a name="l00365"></a><a class="code" href="struct__mip__nav__accel__bias.html">00365</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__accel__bias.html">_mip_nav_accel_bias</a>
<a name="l00366"></a>00366 {
<a name="l00367"></a>00367  <span class="keywordtype">float</span> x, y, z;    <span class="comment">//sensor body frame (m/s^2)</span>
<a name="l00368"></a>00368  u16   valid_flags; 
<a name="l00369"></a>00369 }<a class="code" href="struct__mip__nav__accel__bias.html">mip_nav_accel_bias</a>;
<a name="l00370"></a>00370 
<a name="l00371"></a>00371 
<a name="l00372"></a>00372 <span class="comment">//LLH Position Uncertainty</span>
<a name="l00373"></a><a class="code" href="struct__mip__nav__llh__pos__uncertainty.html">00373</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__llh__pos__uncertainty.html">_mip_nav_llh_pos_uncertainty</a>
<a name="l00374"></a>00374 {
<a name="l00375"></a>00375  <span class="keywordtype">float</span> north, east, down;           <span class="comment">//1-sigma (meters)</span>
<a name="l00376"></a>00376  u16   valid_flags; 
<a name="l00377"></a>00377 }<a class="code" href="struct__mip__nav__llh__pos__uncertainty.html">mip_nav_llh_pos_uncertainty</a>;
<a name="l00378"></a>00378 
<a name="l00379"></a>00379 
<a name="l00380"></a>00380 <span class="comment">//NED Velocity Uncertainty</span>
<a name="l00381"></a><a class="code" href="struct__mip__nav__ned__vel__uncertainty.html">00381</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__ned__vel__uncertainty.html">_mip_nav_ned_vel_uncertainty</a>
<a name="l00382"></a>00382 {
<a name="l00383"></a>00383  <span class="keywordtype">float</span> north, east, down;           <span class="comment">//1-sigma (meters/sec)</span>
<a name="l00384"></a>00384  u16   valid_flags; 
<a name="l00385"></a>00385 }<a class="code" href="struct__mip__nav__ned__vel__uncertainty.html">mip_nav_ned_vel_uncertainty</a>;
<a name="l00386"></a>00386 
<a name="l00387"></a>00387 
<a name="l00388"></a>00388 <span class="comment">//Attitude Uncertainty (Euler Angles)</span>
<a name="l00389"></a><a class="code" href="struct__mip__nav__euler__attitude__uncertainty.html">00389</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__euler__attitude__uncertainty.html">_mip_nav_euler_attitude_uncertainty</a>
<a name="l00390"></a>00390 {
<a name="l00391"></a>00391  <span class="keywordtype">float</span> roll, pitch, yaw;  <span class="comment">//1-sigma (radians)</span>
<a name="l00392"></a>00392  u16   valid_flags; 
<a name="l00393"></a>00393 }<a class="code" href="struct__mip__nav__euler__attitude__uncertainty.html">mip_nav_euler_attitude_uncertainty</a>;
<a name="l00394"></a>00394 
<a name="l00395"></a>00395 
<a name="l00396"></a>00396 <span class="comment">//Gyro Bias Uncertainty</span>
<a name="l00397"></a><a class="code" href="struct__mip__nav__gyro__bias__uncertainty.html">00397</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__gyro__bias__uncertainty.html">_mip_nav_gyro_bias_uncertainty</a>
<a name="l00398"></a>00398 {
<a name="l00399"></a>00399  <span class="keywordtype">float</span> x, y, z;    <span class="comment">//sensor body frame (radians/sec)</span>
<a name="l00400"></a>00400  u16   valid_flags; 
<a name="l00401"></a>00401 }<a class="code" href="struct__mip__nav__gyro__bias__uncertainty.html">mip_nav_gyro_bias_uncertainty</a>;
<a name="l00402"></a>00402 
<a name="l00403"></a>00403 
<a name="l00404"></a>00404 <span class="comment">//Accel Bias Uncertainty</span>
<a name="l00405"></a><a class="code" href="struct__mip__nav__accel__bias__uncertainty.html">00405</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__accel__bias__uncertainty.html">_mip_nav_accel_bias_uncertainty</a>
<a name="l00406"></a>00406 {
<a name="l00407"></a>00407  <span class="keywordtype">float</span> x, y, z;    <span class="comment">//sensor body frame (m/s^2)</span>
<a name="l00408"></a>00408  u16   valid_flags; 
<a name="l00409"></a>00409 }<a class="code" href="struct__mip__nav__accel__bias__uncertainty.html">mip_nav_accel_bias_uncertainty</a>;
<a name="l00410"></a>00410 
<a name="l00411"></a>00411 
<a name="l00412"></a>00412 <span class="comment">//Navigation Solution Timetamp</span>
<a name="l00413"></a><a class="code" href="struct__mip__nav__timestamp.html">00413</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__timestamp.html">_mip_nav_timestamp</a>
<a name="l00414"></a>00414 {
<a name="l00415"></a>00415  <span class="keywordtype">double</span> tow;  <span class="comment">//Time of Week (seconds)</span>
<a name="l00416"></a>00416  u16    week_number; 
<a name="l00417"></a>00417  u16    valid_flags; 
<a name="l00418"></a>00418 }<a class="code" href="struct__mip__nav__timestamp.html">mip_nav_timestamp</a>;
<a name="l00419"></a>00419 
<a name="l00420"></a>00420 
<a name="l00421"></a>00421 <span class="comment">//Navigation Status</span>
<a name="l00422"></a><a class="code" href="struct__mip__nav__status.html">00422</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__status.html">_mip_nav_status</a>
<a name="l00423"></a>00423 {
<a name="l00424"></a>00424  u16 filter_state;
<a name="l00425"></a>00425  u16 dynamics_mode;
<a name="l00426"></a>00426  u16 status_flags; 
<a name="l00427"></a>00427 }<a class="code" href="struct__mip__nav__status.html">mip_nav_status</a>;
<a name="l00428"></a>00428 
<a name="l00429"></a>00429 
<a name="l00430"></a>00430 <span class="comment">//Nav Acceleration Estimate</span>
<a name="l00431"></a><a class="code" href="struct__mip__nav__acceleration.html">00431</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__acceleration.html">_mip_nav_acceleration</a> 
<a name="l00432"></a>00432 {
<a name="l00433"></a>00433  <span class="keywordtype">float</span> x, y, z;   <span class="comment">//sensor or vehicle frame (m/s^2)</span>
<a name="l00434"></a>00434  u16   valid_flags;
<a name="l00435"></a>00435 }<a class="code" href="struct__mip__nav__acceleration.html">mip_nav_acceleration</a>;
<a name="l00436"></a>00436 
<a name="l00437"></a>00437 
<a name="l00438"></a>00438 <span class="comment">//Nav Gravity Estimate</span>
<a name="l00439"></a><a class="code" href="struct__mip__nav__gravity__vector.html">00439</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__gravity__vector.html">_mip_nav_gravity_vector</a> 
<a name="l00440"></a>00440 {
<a name="l00441"></a>00441  <span class="keywordtype">float</span> x, y, z;   <span class="comment">//sensor or vehicle frame (m/s^2)</span>
<a name="l00442"></a>00442  u16   valid_flags;
<a name="l00443"></a>00443 }<a class="code" href="struct__mip__nav__gravity__vector.html">mip_nav_gravity_vector</a>;
<a name="l00444"></a>00444 
<a name="l00445"></a>00445 
<a name="l00446"></a>00446 <span class="comment">//Nav Angular Rate Estimate</span>
<a name="l00447"></a><a class="code" href="struct__mip__nav__angular__rate.html">00447</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__angular__rate.html">_mip_nav_angular_rate</a> 
<a name="l00448"></a>00448 {
<a name="l00449"></a>00449  <span class="keywordtype">float</span> x, y, z;   <span class="comment">//sensor or vehicle frame (rad/s)</span>
<a name="l00450"></a>00450  u16   valid_flags;
<a name="l00451"></a>00451 }<a class="code" href="struct__mip__nav__angular__rate.html">mip_nav_angular_rate</a>;
<a name="l00452"></a>00452 
<a name="l00453"></a>00453 
<a name="l00454"></a>00454 <span class="comment">//Attitude Uncertainty (Quaternion Elements)</span>
<a name="l00455"></a><a class="code" href="struct__mip__nav__quaternion__attitude__uncertainty.html">00455</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__quaternion__attitude__uncertainty.html">_mip_nav_quaternion_attitude_uncertainty</a>
<a name="l00456"></a>00456 {
<a name="l00457"></a>00457  <span class="keywordtype">float</span> q0, q1, q2, q3;  <span class="comment">//1-sigma (radians)</span>
<a name="l00458"></a>00458  u16   valid_flags; 
<a name="l00459"></a>00459 }<a class="code" href="struct__mip__nav__quaternion__attitude__uncertainty.html">mip_nav_quaternion_attitude_uncertainty</a>;
<a name="l00460"></a>00460 
<a name="l00461"></a>00461 
<a name="l00462"></a>00462 <span class="comment">//WGS84 Gravity magnitude</span>
<a name="l00463"></a><a class="code" href="struct__mip__nav__wgs84__gravity__mag.html">00463</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__wgs84__gravity__mag.html">_mip_nav_wgs84_gravity_mag</a>
<a name="l00464"></a>00464 {
<a name="l00465"></a>00465  <span class="keywordtype">float</span> magnitude;  <span class="comment">//m/s^2</span>
<a name="l00466"></a>00466  u16   valid_flags; 
<a name="l00467"></a>00467 }<a class="code" href="struct__mip__nav__wgs84__gravity__mag.html">mip_nav_wgs84_gravity_mag</a>;
<a name="l00468"></a>00468 
<a name="l00469"></a>00469 
<a name="l00470"></a>00470 <span class="comment">//Heading Update Source</span>
<a name="l00471"></a><a class="code" href="struct__mip__nav__heading__update__state.html">00471</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__heading__update__state.html">_mip_nav_heading_update_state</a>
<a name="l00472"></a>00472 {
<a name="l00473"></a>00473  <span class="keywordtype">float</span> heading;
<a name="l00474"></a>00474  <span class="keywordtype">float</span> heading_1sigma;
<a name="l00475"></a>00475  u16   source;
<a name="l00476"></a>00476  u16   valid_flags; 
<a name="l00477"></a>00477 }<a class="code" href="struct__mip__nav__heading__update__state.html">mip_nav_heading_update_state</a>;
<a name="l00478"></a>00478 
<a name="l00479"></a>00479 
<a name="l00480"></a>00480 <span class="comment">//Magnetic Model</span>
<a name="l00481"></a><a class="code" href="struct__mip__nav__magnetic__model.html">00481</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__nav__magnetic__model.html">_mip_nav_magnetic_model</a>
<a name="l00482"></a>00482 {
<a name="l00483"></a>00483  <span class="keywordtype">float</span> intensity_north, intensity_east, intensity_down; <span class="comment">//nT </span>
<a name="l00484"></a>00484  <span class="keywordtype">float</span> inclination, declination;                        <span class="comment">//deg (AKA Dip, Magnetic Variation)</span>
<a name="l00485"></a>00485  u16   valid_flags; 
<a name="l00486"></a>00486 }<a class="code" href="struct__mip__nav__magnetic__model.html">mip_nav_magnetic_model</a>;
<a name="l00487"></a>00487 
<a name="l00488"></a>00488 
<a name="l00489"></a>00489 <span class="preprocessor">#pragma pack()</span>
<a name="l00490"></a>00490 <span class="preprocessor"></span>
<a name="l00491"></a>00491 
<a name="l00492"></a>00492 
<a name="l00493"></a>00493 
<a name="l00494"></a>00494 
<a name="l00496"></a>00496 <span class="comment">//</span>
<a name="l00497"></a>00497 <span class="comment">// Function Prototypes</span>
<a name="l00498"></a>00498 <span class="comment">//</span>
<a name="l00500"></a>00500 <span class="comment"></span>
<a name="l00501"></a>00501 
<a name="l00503"></a>00503 <span class="comment">//NAV Data</span>
<a name="l00505"></a>00505 <span class="comment"></span>
<a name="l00506"></a>00506 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#acbaa20c0d1133fc507a31522c28c4cbe">mip_nav_llh_pos_byteswap</a>(<a class="code" href="struct__mip__nav__llh__pos.html">mip_nav_llh_pos</a> *llh_pos);
<a name="l00507"></a>00507 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#ae714b61014e1abd794de2d4b8508ba53">mip_nav_ned_velocity_byteswap</a>(<a class="code" href="struct__mip__nav__ned__velocity.html">mip_nav_ned_velocity</a> *ned_velocity);
<a name="l00508"></a>00508 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#ac369b73c25609fcd2fc278a09f721762">mip_nav_attitude_quaternion_byteswap</a>(<a class="code" href="struct__mip__nav__attitude__quaternion.html">mip_nav_attitude_quaternion</a> *attitude_quaternion);
<a name="l00509"></a>00509 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a08869f0c4ef08517a55c76d58016b788">mip_nav_attitude_dcm_byteswap</a>(<a class="code" href="struct__mip__nav__attitude__dcm.html">mip_nav_attitude_dcm</a> *attitude_dcm);
<a name="l00510"></a>00510 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#accac12e85fbeb2a2bc20fdf7b46be52a">mip_nav_attitude_euler_angles_byteswap</a>(<a class="code" href="struct__mip__nav__attitude__euler__angles.html">mip_nav_attitude_euler_angles</a> *attitude_euler_angles);
<a name="l00511"></a>00511 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#ae8bf702fd67fce542904880e259a91f6">mip_nav_gyro_bias_byteswap</a>(<a class="code" href="struct__mip__nav__gyro__bias.html">mip_nav_gyro_bias</a> *gyro_bias);
<a name="l00512"></a>00512 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#adcc59507e727653e57c487c6700f54d4">mip_nav_accel_bias_byteswap</a>(<a class="code" href="struct__mip__nav__accel__bias.html">mip_nav_accel_bias</a> *accel_bias);
<a name="l00513"></a>00513 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a688d5b07548ea7f75d2d6661e711eebe">mip_nav_llh_pos_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__llh__pos__uncertainty.html">mip_nav_llh_pos_uncertainty</a> *llh_pos_uncertainty);
<a name="l00514"></a>00514 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#ab9a6c8766256b9b37da3580922e75869">mip_nav_ned_vel_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__ned__vel__uncertainty.html">mip_nav_ned_vel_uncertainty</a> *ned_vel_uncertainty);
<a name="l00515"></a>00515 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#aa0f19d81f75e61a250de6bf1cc17074f">mip_nav_euler_attitude_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__euler__attitude__uncertainty.html">mip_nav_euler_attitude_uncertainty</a> *euler_attitude_uncertainty);
<a name="l00516"></a>00516 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a309af41d7add4f2b7bb0b1667e560e06">mip_nav_gyro_bias_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__gyro__bias__uncertainty.html">mip_nav_gyro_bias_uncertainty</a> *gyro_bias_uncertainty);
<a name="l00517"></a>00517 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a1121e3683be62c7f4bd9bf101854ff00">mip_nav_accel_bias_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__accel__bias__uncertainty.html">mip_nav_accel_bias_uncertainty</a> *accel_bias_uncertainty);
<a name="l00518"></a>00518 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a1e58fb2f35e665ad8f984c770a02b70b">mip_nav_timestamp_byteswap</a>(<a class="code" href="struct__mip__nav__timestamp.html">mip_nav_timestamp</a> *timestamp);
<a name="l00519"></a>00519 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a4eb14e455b187fced017031779442321">mip_nav_status_byteswap</a>(<a class="code" href="struct__mip__nav__status.html">mip_nav_status</a> *status);
<a name="l00520"></a>00520 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a259981d59812dd11dd1600b1aa9ac908">mip_nav_acceleration_byteswap</a>(<a class="code" href="struct__mip__nav__acceleration.html">mip_nav_acceleration</a> *acceleration);
<a name="l00521"></a>00521 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a7206c394585ddd64a39c0361857e0e46">mip_nav_gravity_vector_byteswap</a>(<a class="code" href="struct__mip__nav__gravity__vector.html">mip_nav_gravity_vector</a> *gravity_vector);
<a name="l00522"></a>00522 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a9c6b61ec4cab4b635384aa3e8b3672d3">mip_nav_angular_rate_byteswap</a>(<a class="code" href="struct__mip__nav__angular__rate.html">mip_nav_angular_rate</a> *angular_rate);
<a name="l00523"></a>00523 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a389eb291dac0c4071db16543e3549ecf">mip_nav_quaternion_attitude_uncertainty_byteswap</a>(<a class="code" href="struct__mip__nav__quaternion__attitude__uncertainty.html">mip_nav_quaternion_attitude_uncertainty</a> *quaternion_attitude_uncertainty);
<a name="l00524"></a>00524 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a542c140a3d49da783a1338a7c88a95dd">mip_nav_wgs84_gravity_mag_byteswap</a>(<a class="code" href="struct__mip__nav__wgs84__gravity__mag.html">mip_nav_wgs84_gravity_mag</a> *wgs84_gravity_mag);
<a name="l00525"></a>00525 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#ad473cba1f4aeaaed024d2f6650925b4f">mip_nav_heading_update_state_byteswap</a>(<a class="code" href="struct__mip__nav__heading__update__state.html">mip_nav_heading_update_state</a> *heading_update_state);
<a name="l00526"></a>00526 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__nav_8h.html#a674fe5e1b7d398d6e931a462d93adaec">mip_nav_magnetic_model_byteswap</a>(<a class="code" href="struct__mip__nav__magnetic__model.html">mip_nav_magnetic_model</a> *magnetic_model);
<a name="l00527"></a>00527 
<a name="l00528"></a>00528 
<a name="l00530"></a>00530 <span class="comment">//NAV Commands</span>
<a name="l00532"></a>00532 <span class="comment"></span>
<a name="l00533"></a>00533 u16 <a class="code" href="mip__sdk__nav_8h.html#a3cdf9bd310fe5f6bc8dd9f5ddb24cd97">mip_nav_reset_filter</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface);
<a name="l00534"></a>00534 u16 <a class="code" href="mip__sdk__nav_8h.html#a057765758cb935ac3292c96d46aa6210">mip_nav_set_init_attitude</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, <span class="keywordtype">float</span> euler_angles[3]);
<a name="l00535"></a>00535 u16 <a class="code" href="mip__sdk__nav_8h.html#abbac9cc02470a968bf6bbe02b54042e7">mip_nav_set_init_heading</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, <span class="keywordtype">float</span> heading);
<a name="l00536"></a>00536 u16 <a class="code" href="mip__sdk__nav_8h.html#a0e6be138e6bdd4fe1a4b3c8c7c3cc6f6">mip_nav_set_init_attitude_from_ahrs</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, <span class="keywordtype">float</span> declination);
<a name="l00537"></a>00537 u16 <a class="code" href="mip__sdk__nav_8h.html#a4b036927b1d6af532c1a855df60b28c0">mip_nav_vehicle_dynamics_mode</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, u8 *dynamics_mode);
<a name="l00538"></a>00538 u16 <a class="code" href="mip__sdk__nav_8h.html#aea36bf98669903258dc8fc36305dd086">mip_nav_sensor2vehicle_tranformation</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> euler_angles[3]);
<a name="l00539"></a>00539 u16 <a class="code" href="mip__sdk__nav_8h.html#a042dab955eeaec0a7be038b0056409c7">mip_nav_sensor2vehicle_offset</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> offset[3]);
<a name="l00540"></a>00540 u16 <a class="code" href="mip__sdk__nav_8h.html#a1a3d286b272a599e3444be50a9ebff8a">mip_nav_antenna_offset</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> offset[3]);
<a name="l00541"></a>00541 u16 <a class="code" href="mip__sdk__nav_8h.html#a477b5243c6ddda958e9b4f1d9340c935">mip_nav_bias_estimation</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, u16 *bias_control);
<a name="l00542"></a>00542 u16 <a class="code" href="mip__sdk__nav_8h.html#a3f87cba550bd12b04620c1fee85dd708">mip_nav_gps_source</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, u8 *gps_source);
<a name="l00543"></a>00543 u16 <a class="code" href="mip__sdk__nav_8h.html#a5f8c25b4def078fb68ee8c8f52266951">mip_nav_external_gps_update</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, <a class="code" href="struct__mip__nav__external__gps__update__command.html">mip_nav_external_gps_update_command</a> *command);
<a name="l00544"></a>00544 u16 <a class="code" href="mip__sdk__nav_8h.html#a7528e3f17f616aadc1053106e952073c">mip_nav_external_heading_update</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, <a class="code" href="struct__mip__nav__external__heading__update__command.html">mip_nav_external_heading_update_command</a> *command);
<a name="l00545"></a>00545 u16 <a class="code" href="mip__sdk__nav_8h.html#a9abac39b694e67b2e31f866d294e9408">mip_nav_heading_source</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, u8 *heading_source);
<a name="l00546"></a>00546 u16 <a class="code" href="mip__sdk__nav_8h.html#a0f210c5a7476485c3b09241456286b97">mip_nav_auto_initialization</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, u8 *enable);
<a name="l00547"></a>00547 u16 <a class="code" href="mip__sdk__nav_8h.html#a2f63683de6dccb8924ec282e3f397338">mip_nav_accel_white_noise</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> noise_1sigma[3]);
<a name="l00548"></a>00548 u16 <a class="code" href="mip__sdk__nav_8h.html#aa9ab723d6de52f552cc8ded0dff3e0fc">mip_nav_gyro_white_noise</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> noise_1sigma[3]);
<a name="l00549"></a>00549 u16 <a class="code" href="mip__sdk__nav_8h.html#a82949eabacd0ee12a5d0eefe2e7c70d4">mip_nav_gyro_bias_model</a>(<a class="code" href="struct__mip__interface.html">mip_interface</a> *device_interface, u8 function_selector, <span class="keywordtype">float</span> bias_beta[3], <span class="keywordtype">float</span> bias_noise_1sigma[3]);
<a name="l00550"></a>00550 
<a name="l00551"></a>00551 
<a name="l00552"></a>00552 <span class="preprocessor">#endif</span>
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